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https://github.com/openglow-org/forgefirm.git
synced 2026-09-27 16:51:12 -07:00
forgetest: the cloud tests wait out the service's thinking
wait_quiet took the machine as quiet after 8 s without the start of a motion, a park, a run or a lens homing. Between a lid image and its next move the service is working on the image and the log is silent, and on the bench reference the re-hunt's moves came 9.6 s apart: cloud.mode-switch switched back to GRBL mode in the middle of the re-hunt, twice, the first time canceling a motion at 988 of its 1002 steps. Every line of a service action now counts as activity: the requests, the image uploads, the action ends, the runs, the parks, the motions and the lens homing. The quiet is 30 s. Over 1901 motion, lid-image and hunt requests in the bench reference's logs, half came within 1.6 s of the line before, 99 percent within 12.8 s, and two after more than 30 s (32.8 and 62.2 s). return_head goes: cloud.mode-switch hands its cloud stretch back through the cloud client's log (homeoff.cloud_mode_return), and nothing else called it. RETURN_MAX_MM moves to homeoff, its one user. Proof: tests/test_cloud_suite.py's new case lands a motion, a lid image 0.8 s later and the next move 1.6 s after the motion, with the quiet at 1 s: the quiet comes after the move. With the old activity marks it is declared after the image, before the move. forgetest 499 OK. Acceptance: cloud.mode-switch gates the change on a machine, its re-hunt waited out before the switch back. The fingerprints of every test in suite/cloud.py and of every module that imports from it move: 29 tests, the cloud tests, events.button-telemetry, the exthost tests, homing.cloud-offsets and setup.check-envelope.
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ScottW514
@@ -95,7 +95,6 @@ SESSION_MARKS = ("authenticate_machine SUCCESS", "ws_connect ESTABLISHED")
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# The service's connect-time hunt, as the client logs its request: a few
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# seconds after the controller starts, right behind the session.
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HUNT_REQUEST = "service action request: hunt"
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RETURN_MAX_MM = 600.0 # the head comes back from the home corner across the bed
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def log_size(path):
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@@ -120,39 +119,6 @@ def session_established(lines):
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return all(any(m in ln for ln in lines) for m in SESSION_MARKS)
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def return_head(ctx, feed=2400):
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"""Jog the head back to where the run found it: cloud mode re-zeroed the
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kernel counters at the starting position, so the counters now read the
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displacement (the home corner). Ends on the machine idle."""
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fc = ctx.forgectrl
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pos = fc.status().get("pos") or {}
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x, y = float(pos.get("x", 0.0)), float(pos.get("y", 0.0))
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ctx.log("head displacement since the switch: X %.3f Y %.3f mm", x, y)
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ctx.check(abs(x) <= RETURN_MAX_MM and abs(y) <= RETURN_MAX_MM,
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"displacement %.1f/%.1f mm exceeds %.0f mm - not jogging back", x, y, RETURN_MAX_MM)
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if abs(x) < 0.05 and abs(y) < 0.05:
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return
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with ctx.grbl() as g:
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st = g.status_report()["state"]
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if st.startswith("Alarm"):
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g.command("$X")
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r = g.command("$J=G91X%.3fY%.3fF%d" % (-x, -y, feed))
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ctx.check(not any(k.startswith("error") for k in r), "return jog refused: %s", r)
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t0 = time.time()
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while time.time() - t0 < 120:
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ctx.checkpoint()
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st = g.status_report()["state"]
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if st.startswith("Idle") and time.time() - t0 > 0.5:
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break
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time.sleep(0.2)
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g.command("G90")
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ctx.check(fc.wait_idle(15, abort=ctx.aborted), "machine not idle after the return jog")
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pos = fc.status().get("pos") or {}
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ctx.log("head returned: counters X %.3f Y %.3f mm", float(pos.get("x", 0)), float(pos.get("y", 0)))
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ctx.check(abs(float(pos.get("x", 0))) < 0.1 and abs(float(pos.get("y", 0))) < 0.1,
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"head not back at the start after the return jog: %s", pos)
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def wait_mode(ctx, fc, want_mode, want_controller="running", timeout=90, poll=1.0):
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t0 = time.time()
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last = None
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@@ -536,9 +502,18 @@ NOHUNT_MARK = "NO-HUNT:"
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NOHUNT_MARKER = "/run/gfcloud-nohunt"
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HUNT_DONE = "hunt ["
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WS_MARKS = ("RX-EVENT: ready", "RX-EVENT: closed", "RECONNECTING", "CLOSING", OFFLINE_MARK)
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ACTIVITY_MARKS = ("start motion", "start return home", "starting run", "starting z homing cycle")
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# The service at work: every line of a service action, the requests, the image
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# uploads and the ends included. Between a lid image and its next move the
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# service is thinking and the log is silent, so the ends count: the quiet is
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# measured from the last line of any action.
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ACTIVITY_MARKS = ("service action request:", "img_upload COMPLETE", "finished with event",
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"start motion", "end motion", "start return home", "return home complete",
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"starting run", "finished run", "starting z homing cycle")
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LOG_TAIL_BYTES = 4 << 20
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QUIET_S = 8 # the re-hunt's motions are ~4 s apart (a lid image between them)
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# The service's think time after an image, on the bench reference: over 1901
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# motion, lid-image and hunt requests, half came within 1.6 s of the line before,
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# 99 percent within 12.8 s, and two after more than 30 s (32.8 and 62.2 s).
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QUIET_S = 30
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QUIET_TIMEOUT_S = 180
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HUNT_TIMEOUT_S = 180
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@@ -763,9 +738,9 @@ def client_offline(pid):
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def wait_quiet(ctx, offset, quiet_s=None, timeout=None):
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"""The service's moves are over: the machine idle and no new service
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activity in the log (a motion, a park, a run, a lens homing) for
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quiet_s (default QUIET_S; timeout QUIET_TIMEOUT_S). False on timeout."""
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"""The service's moves are over: the machine idle and no new line of any
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service action in the log (ACTIVITY_MARKS) for quiet_s (default QUIET_S;
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timeout QUIET_TIMEOUT_S). False on timeout."""
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quiet_s = QUIET_S if quiet_s is None else quiet_s
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timeout = QUIET_TIMEOUT_S if timeout is None else timeout
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fc = ctx.forgectrl
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@@ -21,10 +21,11 @@ from ..baseline import XY_STEPS_PER_MM, counter_frame, counter_steps_per_mm, rea
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from ..catalog import test
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from ..runner import Failed
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from . import cloud as logs # the log paths, read at each call
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from .cloud import RETURN_MAX_MM, _HOMING_PATH, gfhome_homing, log_lines_since, log_size
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from .cloud import _HOMING_PATH, gfhome_homing, log_lines_since, log_size
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from .motion import _drop_reference, clean_slate, machine_idle, wait_idle, wait_state
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HOME_X, HOME_Y = 4.5, -3.25
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RETURN_MAX_MM = 600.0 # no hand-back jogs farther on an axis: the bed is smaller
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# The client's own record of a motion's end: the kernel counters, which
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# the motion zeroed at its start (the "(actual/expected)" line of the same
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# motion is not this one). A print's park keeps the counters and drives
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@@ -563,6 +563,29 @@ class CloudSuiteTests(unittest.TestCase):
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cloud.QUIET_TIMEOUT_S = 3 # this one waits the deadline out; tearDown puts it back
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self.assertFails(cloud.enter_cloud, "still running service moves")
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def test_the_quiet_waits_out_the_service_thinking_after_a_lid_image(self):
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# Between a lid image and the service's next move the log is silent
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# while the service works on the image (the re-hunt on the bench
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# reference, 2026-09-25). The quiet counts from the image's own
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# lines, so it is not declared in that gap: it comes after the move.
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cloud.QUIET_S = 1.0
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offset = cloud.log_size(self.log)
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p = "2026-09-25T16:43:%s+00:00 gfcloud[12821] INFO "
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self.append([p % "20.103479" + "gfuiservice:run service action request: motion (ready)",
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p % "20.105376" + "machine:_motion start motion",
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p % "22.617720" + "machine:_motion_locked end positions (12120, 7402, 0)",
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p % "22.618542" + "machine:_motion end motion",
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p % "22.619218" + "basemachine:_finish_action motion [1588864337]: finished with event "
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"\":completed\""])
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self.append([p % "23.249589" + "gfuiservice:run service action request: lid_image (ready)",
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p % "24.686536" + "websocket:img_upload COMPLETE"], delay=0.8)
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self.append([p % "29.667978" + "gfuiservice:run service action request: motion (ready)",
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p % "29.671663" + "machine:_motion start motion"], delay=1.6)
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run = Run("test", "cloud.x", "cloud.x")
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ctx = Context(run, None, helpers.make_test("cloud.x", []))
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self.assertTrue(cloud.wait_quiet(ctx, offset))
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self.assertIn("service action request: motion", cloud.log_lines_since(self.log, offset)[-2])
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# -- the hunt with the lid open ------------------------------------------
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# -- the mode switch: hunt with the lid open, then $H -----------------------
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HUNT_RUN_SAMPLE = {"phase": "run", "verdict": "ok", "armed": False,
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